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WO2004036147A2 - Appareil de detection et procede associe - Google Patents

Appareil de detection et procede associe Download PDF

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Publication number
WO2004036147A2
WO2004036147A2 PCT/GB2003/004504 GB0304504W WO2004036147A2 WO 2004036147 A2 WO2004036147 A2 WO 2004036147A2 GB 0304504 W GB0304504 W GB 0304504W WO 2004036147 A2 WO2004036147 A2 WO 2004036147A2
Authority
WO
WIPO (PCT)
Prior art keywords
signal
position sensor
sensor according
excitation
resonant
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2003/004504
Other languages
English (en)
Other versions
WO2004036147A3 (fr
Inventor
Mark Anthony Howard
Colin Stuart Sills
Darran Kreit
David Alun James
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AVX Electronics Technology Ltd
Original Assignee
Sensopad Technologies Ltd
TT Electronics Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB0224090A external-priority patent/GB0224090D0/en
Application filed by Sensopad Technologies Ltd, TT Electronics Technology Ltd filed Critical Sensopad Technologies Ltd
Priority to US10/531,499 priority Critical patent/US7298137B2/en
Priority to AU2003271973A priority patent/AU2003271973A1/en
Priority to EP03753812A priority patent/EP1552249A2/fr
Publication of WO2004036147A2 publication Critical patent/WO2004036147A2/fr
Publication of WO2004036147A3 publication Critical patent/WO2004036147A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2086—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2086—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils
    • G01D5/2093—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils using polyphase currents

Definitions

  • This invention relates to a sensing apparatus and method, in particular for sensing the relative position of two members .
  • UK Patent Application No. 2374424 describes a position sensor in which two excitation windings and a sensor winding are formed on a first member, and a resonant circuit is formed on a second member.
  • the two excitation windings are shaped so that the electromagnetic coupling between the excitation windings and the resonant circuit varies along a measurement path in accordance with a sine function and a cosine function respectively.
  • an oscillating signal is generated in the resonant circuit whose phase is dependent upon the relative position between the first and second members along the measurement path.
  • the oscillating signal in the resonant circuit in turn induces an oscillating signal in the sensor winding whose phase is indicative of the relative position between the first and second members along the measurement path.
  • a problem with the position sensor described in GB 2374424A is that the drive circuitry which applies the quadrature pair of excitation signals to the two excitation windings is relatively complex.
  • a position sensor in which a signal generator applies an excitation signal to an excitation winding formed on a first member, wherein the excitation winding is electromagnetically coupled to at least two resonant circuits formed on a second member which are spaced from each other along a measurement path.
  • the excitation windings are shaped so that the electromagnetic coupling between the excitation winding and each of the resonators varies along the measurement path. In this way, by applying an excitation signal to the excitation winding, respective different signals are induced in the resonators which depend upon the relative position of the first and second members .
  • Figure 1 schematically shows a perspective view of a position sensor
  • Figure 2 schematically shows the main components of the position sensor illustrated in Figure 1;
  • Figure 3 schematically shows how the respective phases of signals induced in two resonant circuits which form part of the position sensor illustrated in Figure 1 vary with the frequency of a driving signal;
  • Figure 4 shows an unmodulated signal and a sensed signal generated by the sensor illustrated in Figure 1;
  • Figure 5 shows part of a signal that is sensed by a sensor winding, which forms part of the position sensor illustrated in Figure 1, after mixing with a second frequency;
  • Figure 6 shows part of the signal illustrated in Figure 5 after filtering, together with a reference signal; and Figure 7 is a schematic block diagram showing the main elements of the position sensor illustrated in Figure 1.
  • Figure 1 schematically shows a position sensor for detecting the position of a sensor element 1 which is slidably mounted to a support (not shown) to allow linear movement along a measurement direction (the direction X in Figure 1).
  • a printed circuit board (PCB) 3 extends along the measurement direction and has printed thereon conductive tracks which form a sine coil 5 and a sense coil 7 , each of which are connected to a control unit 9.
  • a display 11 is also connected to the control unit 9 for displaying a number representative of the position of the sensor element 1 in the measurement direction.
  • the sensor element 1 includes a printed circuit board 13 having conductive tracks printed thereon which form a first resonant circuit 15a and a second resonant circuit 15b which are spaced from each other in the measurement direction.
  • a printed circuit board 13 having conductive tracks printed thereon which form a first resonant circuit 15a and a second resonant circuit 15b which are spaced from each other in the measurement direction.
  • the PCB 3 is generally rectangular in shape with the lengthwise axis aligned with the measurement direction and the widthwise axis aligned perpendicular to the measurement direction.
  • the sine coil 5 and the sense coil 7 are connected to the control unit 9 via a proximal lengthwise edge 17 of the PCB 3, and extend along the length of the PCB 3 to a distal lengthwise edge 19.
  • the control unit 9 includes an excitation signal generator 21 which generates an oscillating excitation signal having a frequency f 0 , which in this embodiment is 1MHz.
  • the sine coil 5 is formed by a conductive track which generally extends around the periphery of the PCB 3 apart from a cross-over point halfway along the PCB 3 in the measurement direction, at which point the conductive track adjacent each widthwise edge of the PCB 3 crosses to the respective opposing widthwise edge of the PCB 3.
  • a first current loop 23a and a second current loop 23b are formed.
  • current flows around the first current loop 23a and the second current loop 23b in opposite directions, and therefore the current flowing around the first current loop 23a generates a magnetic field which has an opposite polarity to the magnetic field generated by the current flow around the second current loop 23b.
  • the sine coil 5 generates a magnetic field component B perpendicular to the PCB 3 which varies according to one period of the sine function, as set out in Equation 1,
  • the excitation signal When the excitation signal is applied to the sine coil 5, an oscillating signal at the same frequency is induced in each of the two resonant circuits 15a, 15b on the sensor element 1, with the magnitude of the induced signal in each resonant circuit 15 being dependent upon the strength of the magnetic field component B resolved perpendicular to the PCB 3 at the respective position of the resonant circuit 15 along the measurement direction.
  • the first resonant circuit 15a is separated from the second resonant circuit 15b by a distance d which is equal to L/4, so that as the sensor element 1 moves along the measurement direction the magnitude of the resonant signals induced in the first and second resonant circuits 15 vary in quadrature.
  • a phase lag is also introduced between the excitation signal and the induced signal in each resonant circuit, the amount of the phase lag being dependent upon the relationship between the frequency of the excitation signal and the resonant frequency of each resonant circuit 15.
  • Figure 3 shows the variation in phase lag with the frequency of the excitation signal for the first and second resonant circuits 15a, 15b.
  • the curve referenced 31a shows the variation in phase lag with the frequency of the excitation signal for the first resonant circuit 15a
  • the curve referenced 31b shows the variation in phase lag with the frequency of the excitation signal for the second resonant circuit 15b.
  • the resonant frequency f 1 res of the first resonant circuit 15a is set so that at th ⁇ frequency f 0 of the excitation signal, the phase lag of the induced signal in the first resonant circuit is 3 ⁇ /4
  • the resonant frequency f 2 res of the second resonant circuit 15b is set so that at the frequency f 0 of the excitation signal, the phase lag of the signal induced in the second resonant circuit is ⁇ /4.
  • the induced signals I lf I 2 in turn induce a signal S in the sense coil 7 proportional to the sum of the induced signals l x and I 2 .
  • This sum simplifies to the expression given in Equation 4 , in which C is a constant .
  • phase of the signal S rotates as the sensor element 1 moves along the measurement direction.
  • the signal S is input to a timing comparator 25 which compares the timing of the signal S with the timing of a reference signal from the excitation signal generator 21 to determine a value representative of the phase of the signal S. This value is then input to a position calculator 27 which converts the value to a position value for the sensor element 1, and outputs a drive signal to the display 11 causing the display 11 to show the position value.
  • the frequency f 0 of the oscillating excitation signal is 1 MHz. This frequency is sufficiently high to induce a relatively large signal in each resonant circuit 15.
  • Figure 4 shows the excitation signal P together with the signal S which is induced in the sense coil 7.
  • the sense signal S has a phase delay of 0.1 ⁇ s with respect to the excitation signal P. At a frequency of 1 MHz, the phase delay will always be 1 ⁇ s or less, with the result that, in order to determine the position of the sensor element accurately, it is necessary to resolve the phase delay to a value of 1 to 10 ns, which is relatively difficult.
  • a signal as shown in Figure 5 which contains a signal at a frequency higher than the original signal, together with a lower frequency "beat" signal at a frequency equal to the frequency difference between the sensed signal and the second signal.
  • This signal can be filtered to remove the high frequency signal and other signals and leave the beat sinusoidal signal 35 as shown in Figure 6.
  • the beat signal 35 has a phase delay that is related to the position of the sensor element 1 so that it may be compared with a reference signal 37 of the same frequency to determine the position of the sensor element 1. It can be seen from Figure 6 that the phase delay of the resulting beat signal corresponds to much longer times with the result that relatively inexpensive circuitry can be employed to measure the phase delay.
  • Figure 7 schematically shows the circuitry within the control unit 9 in more detail, together with the sine coil 5 and sense coil 7.
  • the circuitry within the control unit 9 comprises a microprocessor 41, signal generator 42, analogue driving circuitry 40 and analogue signal processing components 44.
  • the microprocessor 41 includes a square wave oscillator 112 which generates a square wave signal at twice the frequency f 0 (i.e. at 2 MHz). This square wave signal is output from the microprocessor 41 to the signal generator 42 which divides the square wave signal by two and forms an in-phase digital signal +1 at the frequency f 0 .
  • the in-phase signal +1 is sent to the analogue driving circuitry 40, and is input to a coil driver 83 which amplifies the signal and outputs the excitation signal to the sine coil 5.
  • the digital generation of the excitation signals applied to the sine coil 5 introduces high frequency harmonic noise.
  • the coil driver 83 removes some of this high frequency harmonic noise, as does the frequency response characteristics of the sine coil 5.
  • the resonant circuits 15 within the sensor element 1 do not respond to signals which are greatly above their respective resonant frequencies and therefore the resonant circuits 15 also filter out a portion of the unwanted high frequency harmonic noise.
  • the signal S induced in the sense coil 7 is passed through a high pass filter amplifier 93 which both amplifies the received signal, and removes low frequency noise (e.g. from a 50 Hz mains electricity supply) and any D.C. offset.
  • the amplified signal is then input to a mixer 95, where the amplified signal is mixed with a reference signal at a second frequency f : .
  • the second signal of frequency f is a digital signal having sinusoidal characteristics, and is generated by the signal generator 42.
  • the second signal has a fundamental frequency somewhat higher or lower than that of the original signals at frequency at f 0 so that the signal output by the mixer 95 includes components at frequencies f 0 + fj and at f 0 - f ⁇ .
  • This mixed signal is then input to a low pass amplifier filter 97 to filter out the high frequency components, i.e. those components at a frequency of f 0 + fi.
  • the second signal typically has a frequency f x that differs from f 0 by not more than 10% of the original frequency f 0 so that the components of the resulting signal have a frequency f 0 - fi which is at a much lower frequency than any other component of the signal and the higher frequency components can therefore easily be removed by means of an analogue filter.
  • the filtered signal is then input to a band pass filter amplifier 99 having a pass band centred at f 0 - f lf after which a generally sinusoidal third signal is formed as shown in Figure 6.
  • the signal output by the band pass filter amplifier 99 is input to a comparator 101 which converts it to a square wave signal whose rising and falling edges correspond with the zero crossing points of the sinusoidal signal of Figure 6.
  • the square wave signal is input into a timer 104, forming part of the microprocessor 41, together with another square wave signal V ref , generated by the signal generator 42, of the same frequency which provides a reference phase.
  • the timer measures the difference between the timings of the rising and falling edges of the signal output by the comparator 101 and the reference signal V ref , and outputs the measured timings to a processing unit 108 which determines the corresponding position value using a lookup table.
  • the processing unit 108 then outputs the determined position value to a display controller 110 which generates drive signals to cause the display 11 to show the determined position value.
  • control unit 9 Further details of the components and operation of the control unit 9 may be found in UK patent application no. 0224100.8, whose contents are hereby incorporated by reference.
  • an excitation winding i.e. the sine coil 5
  • two resonators i.e. the resonant circuits 15
  • the resonant signals induced in the resonant circuits 15 are analysed using a sensor winding (i.e. the sense coil 7) which is electromagnetically coupled with the two resonators.
  • a sensor winding i.e. the sense coil 7
  • It is not essential to use such a sensor winding because the resonant signals induced in the two resonators could be measured directly. Such direct measurement is not, however, preferred because it would require electrical connections to be made to the sensor element.
  • the resonant circuits 15 on the sensor element 1 have overlapping, but not identical, ranges of frequencies over which a sinusoidal signal applied to the sine coil 5 induces a resonant signal in the sense coil 7.
  • the frequency of the excitation signal is selected so that there is a quarter of a cycle phase difference between the signals induced in the first and second resonant circuits caused by the phase shifts which are inherent to resonators around the resonant frequency.
  • the sensor element includes two resonant circuits 15 which are separated by a distance corresponding to a quarter of a cycle of the sine coil 5. This is not, however, essential as the sensor element could, for example, have two resonant circuits separated by three-quarters of a cycle of the sine coil 5. Alternatively, the sensor element could have three or more spaced resonant circuits.
  • the sine coil 7 is arranged so that the magnetic field component perpendicular to the PCB 3 varies sinusoidally in accordance with position along the measurement direction, and the two resonant circuits are separated by a distance of L/4 along the measurement direction.
  • the electromagnetic coupling between the sine coil 5 and the first resonant circuit 15a varies in accordance with a first function (i.e. the sine function) and the electromagnetic coupling between the sine coil 5 and the second resonant circuit 15b varies in accordance with a second function (i.e. the cosine function).
  • the sine coil has an alternate twisted loop structure.
  • a passive resonator is used.
  • a resonator including an amplifier so that the signal induced in the resonator is increased.
  • the inductive sensor is used to measure the linear position of a first member (i.e. the sensor element 1) relative to a second member (i.e. the PCB 3) along a rectilinear measurement path.
  • the inductive sensor could be adapted to measure linear position along a curved measurement path, for example a circle (i.e. a rotary position sensor), by varying the layout of the sine coil in a manner which would be apparent to a person skilled in the art.
  • the inductive sensor could also be used as a speed detector by taking a series of measurements of the position of the first member relative to the second member at known timings .
  • the sine coil, sense coil and resonant circuits are formed by conductive tracks on a printed circuit board.
  • a different planar substrate could be used.
  • the sine coil and sense coil could, if sufficiently rigid, be fixed relative to a first member and the resonant circuits fixed relative to a second member without the use of a substrate. It is also not essential that the sine coil, sense coil and resonant circuits are planar because, for example, cylindrical windings could also be used with the sensor element moving along the cylindrical axis of the cylindrical winding.
  • the position sensor detects the relative position between first and second members, it does not matter which of the first member and the second member are moved, or even if both are moved.
  • the excitation signal is a digital representation of a sinusoidal signal. This is not essential and may be convenient to use an excitation signal which is more easily generated.
  • the excitation signal could be a digital representation of a triangular waveform.
  • the phase of the sensed signal can be decoded in the same way as the illustrated embodiment by only looking at the fundamental frequency of the sensed signal, i.e. by filtering out the higher harmonics present in the triangular waveform.
  • the frequency responses of the analogue driving circuitry, the sine coil and the resonant circuits are effective in removing a large proportion of the higher harmonics.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention a trait à un capteur de position inductif, dans lequel un générateur de signaux applique un signal d'excitation à un enroulement d'excitation formé sur un premier élément, l'enroulement d'excitation étant couplé par voie électromagnétique à au moins deux circuits résonants formés sur un second élément, qui sont espacés l'un de l'autre le long d'une voie de mesure. La forme des enroulements d'excitation est telle qu'elle permet au couplage électromagnétique de l'enroulement d'excitation et de chacun des résonateurs de varier le long de la voie de mesure. De cette façon, l'application d'un signal d'excitation à l'enroulement d'excitation a pour effet d'induire dans les résonateurs différents signaux respectifs, qui dépendent de la position relative des premier et second éléments.
PCT/GB2003/004504 2002-10-16 2003-10-16 Appareil de detection et procede associe Ceased WO2004036147A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US10/531,499 US7298137B2 (en) 2002-10-16 2003-10-16 Position sensing apparatus and method
AU2003271973A AU2003271973A1 (en) 2002-10-16 2003-10-16 Position sensing apparatus and method
EP03753812A EP1552249A2 (fr) 2002-10-16 2003-10-16 Appareil de detection et procede associe

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0224090.1 2002-10-16
GB0224090A GB0224090D0 (en) 2002-10-16 2002-10-16 Sensing apparatus & method
GB0308257.5 2003-04-09
GB0308257A GB2394295B (en) 2002-10-16 2003-04-09 Sensing apparatus and method

Publications (2)

Publication Number Publication Date
WO2004036147A2 true WO2004036147A2 (fr) 2004-04-29
WO2004036147A3 WO2004036147A3 (fr) 2004-08-05

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2003/004504 Ceased WO2004036147A2 (fr) 2002-10-16 2003-10-16 Appareil de detection et procede associe

Country Status (4)

Country Link
US (1) US7298137B2 (fr)
EP (1) EP1552249A2 (fr)
AU (1) AU2003271973A1 (fr)
WO (1) WO2004036147A2 (fr)

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WO2006064236A1 (fr) * 2004-12-14 2006-06-22 Darran Kreit Capteur de position inductrice
WO2006067420A1 (fr) * 2004-12-20 2006-06-29 Mark Anthony Howard Capteur de position inductive
US7205775B2 (en) 2003-02-17 2007-04-17 Sensopad Limited Sensing apparatus and method
US7436164B2 (en) 2006-12-20 2008-10-14 3M Innovative Properties Company Untethered device employing tunable resonant circuit
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WO2016157900A1 (fr) * 2015-04-02 2016-10-06 Mitsubishi Electric Corporation Capteur de position
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US20060125472A1 (en) 2006-06-15

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